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Re: [Paparazzi-devel] Digital servo frequency on fixedwing

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Digital servo frequency on fixedwing
Date: Thu, 12 Sep 2013 13:36:51 +0200

Hi Joseph,

the Umarim Lite v2 uses the 4017 decade counter to generate the servo pulses. The actuators_pwm driver is only for directly driving gpio pins as servo inputs.

Cheers, Felix

On Wed, Sep 11, 2013 at 11:08 AM, Joseph Muhlhausen <address@hidden> wrote:
Hi all,

I have gotten digital servo on my fixedwing. Those servos have a 270 Hz frequency.

I want to increase the PWM actuator frequency to match the servo frequency. I have Umarim Lite v2 and I think I need to change the timing of the servo period #define SERVOS_PERIOD SERVOS_TICS_OF_USEC(25000) in sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c

I have the folowing questions:
- Has anyone tried to increase actuators' frequency to match those of the servos? Have you noticed any improvements?

- Does it make sense to increase actuators' frequency when AHRS PERIODIC FREQUENCY is set to 50 Hz for Umarim? I'm guessing yes since the servo will receive a new signal faster (3.7 ms) after the AHRS output


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